version: 66.06
glider: 148
mission: 11
dive: 589
start: 9 6 112 8 47 39
data:
$ID,148
$MISSION,11
$DIVE,589
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,250
$T_MISSION,550
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-930968.44
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3320
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,87
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,082557,2247.996,-15800.581,42,1.8,45,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.0
$GPS2,084643,2248.227,-15800.629,11,1.6,17,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,-0.143
$KALMAN_X,-607724.6,182.8,-277.8,606334.6,-1186.8
$KALMAN_Y,66455.6,173.1,305.0,-66524.9,-119.5
$MHEAD_RNG_PITCHd_Wd,123.4,2513,-22.6,-10.000
$D_GRID,750
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.52,-90.6,0.0,0.0,0,86,0.00,0.00,-66.28,0.000,2,0.000,0.000,415,1692,3205,0,0,0,0,0,0
$GC,89,-1.57,-126.5,3.9,-6.9,9,113,13.20,2.50,-3.38,0.000,4,0.146,0.045,2972,163,3398,0,0,0,0,0,0
$GC,197,-1.08,-126.5,39.9,-27.2,23,205,0.47,2.28,0.00,0.000,6,0.094,0.018,3077,1630,3399,0,0,0,0,0,0
$GC,521,-1.00,-126.5,94.6,-14.6,54,526,0.12,2.53,0.00,0.000,4,0.114,0.025,3104,3229,3400,0,0,0,0,0,0
$GC,565,-1.09,-126.5,100.3,-12.1,57,571,0.00,2.53,0.00,0.000,6,0.000,0.026,3104,1657,3400,0,0,0,0,0,0
$GC,889,-1.09,-126.5,138.1,-11.9,88,890,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1657,3401,0,0,0,0,0,0
$GC,1215,-1.16,-126.5,173.1,-10.6,118,1220,0.15,2.50,0.00,0.000,4,0.054,0.023,3035,3237,3401,0,0,0,0,0,0
$GC,1241,-1.16,-126.5,177.0,-13.2,120,1246,0.15,2.55,0.00,0.000,6,0.100,0.027,3067,1655,3401,0,0,0,0,0,0
$GC,1572,-1.16,-126.5,214.4,-11.6,142,1576,0.00,2.47,0.00,0.000,4,0.000,0.023,3067,3231,3402,0,0,0,0,0,0
$GC,1593,-1.16,-126.5,216.9,-11.9,142,1597,0.00,2.50,0.00,0.000,6,0.000,0.026,3067,1664,3401,0,0,0,0,0,0
$GC,1938,-1.16,-126.5,258.2,-12.1,151,1942,0.00,2.42,0.00,0.000,4,0.000,0.042,3067,166,3402,0,0,0,0,0,0
$GC,1984,-1.16,-126.5,264.3,-12.5,152,1988,0.00,2.33,0.00,0.000,6,0.000,0.018,3067,1678,3402,0,0,0,0,0,0
$GC,2308,-1.16,-126.5,297.9,-10.2,160,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1681,3401,0,0,0,0,0,0
$GC,2632,-1.23,-126.5,332.8,-10.7,168,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1681,3402,0,0,0,0,0,0
$GC,2957,-1.30,-126.5,368.3,-10.7,176,2959,0.12,0.00,0.00,0.000,6,0.064,0.000,3006,1681,3400,0,0,0,0,0,0
$GC,3284,-1.19,-126.5,413.5,-14.6,184,3289,0.25,2.55,0.00,0.000,4,0.094,0.056,3064,178,3398,0,0,0,0,0,0
$GC,3331,-1.26,-126.5,420.2,-12.7,185,3336,0.00,2.33,0.00,0.000,6,0.000,0.024,3064,1650,3398,0,0,0,0,0,0
$GC,3656,-1.35,-126.5,455.4,-10.7,193,3658,0.17,0.00,0.00,0.000,6,0.050,0.000,2993,1651,3396,0,0,0,0,0,0
$GC,3980,-1.23,-126.5,497.4,-12.6,201,3985,0.25,2.55,0.00,0.000,4,0.095,0.064,3051,178,3393,0,0,0,0,0,0
$GC,4009,-1.23,-126.5,501.1,-11.7,201,4013,0.00,2.42,0.00,0.000,6,0.000,0.033,3051,1668,3393,0,0,0,0,0,0
$GC,4347,-1.29,-126.5,532.3,-9.0,210,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1668,3390,0,0,0,0,0,0
$GC,4670,-1.35,-126.5,560.1,-8.6,218,4672,0.12,0.00,0.00,0.000,6,0.065,0.000,2998,1668,3388,0,0,0,0,0,0
$GC,4995,-1.26,-126.5,599.9,-12.6,226,5000,0.22,2.62,0.00,0.000,4,0.097,0.071,3046,171,3385,0,0,0,0,0,0
$GC,5035,-1.26,-126.5,604.8,-11.6,226,5040,0.00,2.47,0.00,0.000,6,0.000,0.035,3046,1681,3385,0,0,0,0,0,0
$GC,5366,-1.32,-126.5,643.1,-11.7,235,5371,0.00,2.62,0.00,0.000,4,0.000,0.071,3046,181,3382,0,0,0,0,0,0
$GC,5390,-1.32,-126.5,646.3,-13.6,235,5394,0.00,2.45,0.00,0.000,6,0.000,0.037,3046,1670,3382,0,0,0,0,0,0
$GC,5732,-1.39,-126.5,686.6,-11.8,244,5737,0.12,2.62,0.00,0.000,4,0.066,0.072,2994,181,3379,0,0,0,0,0,0
$GC,5785,-1.25,-126.5,694.8,-15.4,245,5790,0.22,2.45,0.00,0.000,6,0.104,0.038,3043,1670,3378,0,0,0,0,0,0
$GC,6106,-1.32,-126.5,731.2,-10.9,253,6110,0.00,2.67,0.00,0.000,4,0.000,0.058,3043,3241,3377,0,0,0,0,0,0
$GC,6121,-1.38,-126.5,733.0,-10.7,253,6126,0.10,2.65,0.00,0.000,6,0.074,0.046,2986,1678,3377,0,0,0,0,0,0
$STATE,6266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6266,begin apogee
$GC,6272,-0.31,0.0,750.9,12.4,257,6380,1.20,0.00,104.03,1.036,6,0.087,0.000,3250,1309,2880,0,0,0,0,0,0
$STATE,6380,end apogee,CONTROL_FINISHED_OK
$STATE,6380,begin climb
$GC,6385,1.57,126.5,753.6,0.0,259,6504,1.75,2.08,110.97,1.011,4,0.052,0.083,3658,168,2364,0,0,0,0,0,0
$GC,6583,1.34,126.5,736.0,15.1,262,6587,0.22,1.88,0.00,0.000,6,0.107,0.031,3613,1314,2360,0,0,0,0,0,0
$GC,6923,1.34,126.5,698.1,10.7,271,6927,0.00,2.03,0.00,0.000,4,0.000,0.071,3612,167,2353,0,0,0,0,0,0
$GC,6999,1.25,126.5,689.9,10.7,272,7003,0.00,1.88,0.00,0.000,6,0.000,0.030,3612,1322,2352,0,0,0,0,0,0
$GC,7344,1.26,134.7,656.8,9.4,281,7356,0.00,2.08,6.10,0.748,4,0.000,0.069,3612,177,2330,0,0,0,0,0,0
$GC,7580,1.19,134.7,629.5,12.6,286,7585,0.15,1.83,0.00,0.000,6,0.117,0.028,3581,1303,2329,0,0,0,0,0,0
$GC,7911,1.32,139.3,597.1,9.7,294,7923,0.10,2.00,5.30,0.692,4,0.079,0.067,3622,167,2311,0,0,0,0,0,0
$GC,8040,1.22,139.3,581.4,12.1,296,8044,0.17,1.83,0.00,0.000,6,0.108,0.028,3586,1299,2311,0,0,0,0,0,0
$GC,8377,1.38,173.6,554.4,7.5,305,8415,0.15,0.00,32.20,0.897,6,0.059,0.000,3646,1300,2172,0,0,0,0,0,0
$GC,8742,1.38,173.6,514.7,11.2,314,8746,0.12,2.00,0.00,0.000,4,0.116,0.064,3620,161,2166,0,0,0,0,0,0
$GC,8807,1.38,173.6,506.8,11.7,315,8811,0.00,1.85,0.00,0.000,6,0.000,0.026,3620,1313,2166,0,0,0,0,0,0
$GC,9123,1.46,185.0,477.5,9.2,323,9136,0.00,0.00,11.23,0.780,6,0.000,0.000,3620,1315,2125,0,0,0,0,0,0
$GC,9445,1.52,185.0,444.4,10.3,331,9450,0.12,2.00,0.00,0.000,4,0.067,0.061,3674,165,2122,0,0,0,0,0,0
$GC,9537,1.35,185.0,431.8,14.7,333,9542,0.28,1.83,0.00,0.000,6,0.099,0.025,3616,1318,2122,0,0,0,0,0,0
$GC,9869,1.46,199.2,400.2,8.9,341,9885,0.10,0.00,13.73,0.754,6,0.079,0.000,3658,1320,2067,0,0,0,0,0,0
$GC,10190,1.46,199.2,366.5,10.5,349,10193,0.00,1.98,0.00,0.000,4,0.000,0.059,3658,158,2063,0,0,0,0,0,0
$GC,10323,1.38,199.2,349.9,13.5,351,10327,0.17,1.83,0.00,0.000,6,0.105,0.023,3621,1320,2063,0,0,0,0,0,0
$GC,10659,1.48,199.2,314.0,10.6,360,10663,0.00,2.53,0.00,0.000,4,0.000,0.035,3621,2869,2062,0,0,0,0,0,0
$GC,10699,1.67,199.2,310.1,10.1,360,10705,0.25,2.62,0.00,0.000,6,0.038,0.043,3715,1311,2059,0,0,0,0,0,0
$GC,11030,1.55,199.2,270.6,11.7,369,11035,0.28,1.95,0.00,0.000,4,0.097,0.061,3654,157,2060,0,0,0,0,0,0
$GC,11213,1.55,199.2,250.8,11.1,373,11217,0.00,1.80,0.00,0.000,6,0.000,0.021,3654,1337,2060,0,0,0,0,0,0
$GC,11545,1.55,199.2,216.5,10.3,381,11548,0.00,2.00,0.00,0.000,4,0.000,0.055,3654,161,2059,0,0,0,0,0,0
$GC,11773,1.55,206.4,190.9,9.5,389,11791,0.00,1.73,6.62,0.527,6,0.000,0.021,3654,1299,2037,0,0,0,0,0,0
$GC,12110,1.64,213.7,159.8,9.5,421,12124,0.10,1.92,8.43,0.531,4,0.077,0.050,3697,163,2007,0,0,0,0,0,0
$GC,12165,1.50,213.7,152.8,12.4,426,12169,0.22,1.73,0.00,0.000,6,0.102,0.021,3650,1298,2007,0,0,0,0,0,0
$GC,12498,1.60,215.5,120.0,9.9,457,12502,0.00,1.90,0.00,0.000,4,0.000,0.051,3650,162,2006,0,0,0,0,0,0
$GC,12543,1.60,215.5,114.8,10.6,461,12548,0.00,1.70,0.00,0.000,6,0.000,0.021,3650,1301,2006,0,0,0,0,0,0
$GC,12868,1.76,262.4,86.4,6.5,492,12920,0.22,1.95,44.17,0.528,4,0.043,0.047,3733,157,1809,0,0,0,0,0,0
$GC,12926,1.65,262.4,80.7,12.4,497,12932,0.25,1.70,0.00,0.000,6,0.100,0.020,3682,1286,1809,0,0,0,0,0,0
$GC,13254,1.78,284.9,49.7,8.3,528,13280,0.10,2.58,19.95,0.473,4,0.076,0.026,3734,2852,1717,0,0,0,0,0,0
$GC,13309,1.78,284.9,43.9,11.7,532,13318,0.10,2.62,0.00,0.000,6,0.070,0.035,3706,1289,1713,0,0,0,0,0,0
$GC,13668,1.78,284.9,6.0,13.3,581,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,3706,1289,1712,0,0,0,0,0,0
$STATE,13682,end climb,SURFACE_DEPTH_REACHED
$STATE,13683,begin surface coast
$FINISH,0.9,1.023314
$STATE,13721,end surface coast,CONTROL_FINISHED_OK
$STATE,13721,begin surface
$SM_CCo,13747,36.35,0.437,0,0,1452,350.04
$SM_GC,1.78,0.00,0.00,36.35,0.000,0.000,0.437,413,1683,1452,-13.37,0.65,350.04
$IRIDIUM_FIX,2239.35,-15802.37,011201,080839
$TT8_MAMPS,0.027612
$HUMID,68.90
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.2,77.224
$10V_AH,9.8,63.718
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,35.250,111.950,362.725,36.350,0.000,76.770,124.690,734.648,2.750,0.000,19.243,1236.184,9811.641,452.150,2192.248,1334.903,33.396,1337.777,0.000,2183.019,0.000,1.442,0.000
$DEVICE_MAMPS,146.497,82.836,1036.217,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.265,317.728,404.008,566.317,995.378,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,44784,589
$CAP_FILE_SIZE,142506,0
$CFSIZE,260165632,142659584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060912,084643,2248.227,-15800.629,301,99.0,301,10.1